The following change introduced a bug that makes the driving velocity feed forward 12 times higher than it should be: b5b9d36
With this change, the actual speed can be up to 12 times higher than the commanded speed. As a result, the smallest input will cause the robot to drive at full speed, and it is impossible to control.
The code is in Configs.java. It used to look like this:
double drivingVelocityFeedForward = 1 / ModuleConstants.kDriveWheelFreeSpeedRps;
but now it does this:
double nominalVoltage = 12.0;
double drivingVelocityFeedForward = nominalVoltage / ModuleConstants.kDriveWheelFreeSpeedRps;
When we change it back to the way it was, the robot behaves as expected.
The following change introduced a bug that makes the driving velocity feed forward 12 times higher than it should be: b5b9d36
With this change, the actual speed can be up to 12 times higher than the commanded speed. As a result, the smallest input will cause the robot to drive at full speed, and it is impossible to control.
The code is in Configs.java. It used to look like this:
but now it does this:
When we change it back to the way it was, the robot behaves as expected.